Method and device for color correction of two or more self-illuminated camera systems

ABSTRACT

A device and method for color correction of two camera systems each having an imaging device and an illumination source. The camera systems are separately white balanced with the imaging device outside a scene. Their white balance gains and color correction matrices are saved. Based on the measurements, combined white balance gains and combined color correction matrices are computed and saved. Thereafter, with the imaging devices in a scene, performing white balancing by measuring the R, G, and B values of both imaging devices together, and then white balancing by measuring the R, G, and B values of each separate imaging device with the other camera system&#39;s light off. Comparisons are made of each camera&#39;s scene measurements against the combined scene measurements. If they are significantly different, the combined light set of white balance gain and color correction matrix is applied to digital signal processing paths of each camera system.

CROSS REFERENCE TO RELATED APPLICATION

This application is a continuation application of U.S. patentapplication Ser. No. 16/708,892, filed on Dec. 10, 2019, entitled METHODAND DEVICE FOR COLOR CORRECTION OF TWO OR MORE SELF-ILLUMINATED CAMERASYSTEMS, the entire contents of which are hereby incorporated herein byreference.

FIELD OF THE INVENTION

The invention relates to methods, systems and devices for imagingstructures using endoscopic camera systems, and more particularly to amethod and device that provides color correction of two or moreself-illuminated camera systems.

BACKGROUND OF THE INVENTION

Endoscopic medical instruments (also referred to herein as “endoscopes”)including endoscopic camera systems provide surgeons with a view of anarea of a medical patient's body being worked on during endoscopicprocedures without the necessity of fully opening the area, therebyfacilitating less-invasive surgical procedures. In endoscopic surgeries,illumination is typically directed into very small and tight closedcavities and spaces in the body. Such illuminating lighting can beprovided by fiber optics or other light channels that carry the lightfrom a distant light source. The illumination source, e.g., LEDs, canalso be located onboard the endoscope and be focused directly out of theendoscope. Some endoscopes use light channels (e.g., optical fibers ortranslucent plastic light tubes) to direct the light from onboard LEDsto points outside the endoscope. The illumination sources can also beone or a mix of xenon, halogen, LED and laser light.

The surgical field in endoscopic procedures can present unique lightingand imaging challenges. When using camera systems to view an objectunder lighting, there are often unrealistic color casts in the imagethat can make it difficult to visualize the field of surgery. This isparticularly true in the tight confines of endoscopic surgery where thedistances between the light sources and the tissue being illuminated canvary, and where the reflected light can be affected by the color of thetissue being illuminated and the shadows that are cast.

White balancing (WB) is the process of removing unrealistic color casts,performing color correction, and establishing color fidelity so thatobjects which appear white in person are rendered white in a photographor a visual display, such as a computer screen. This is importantbecause medical practitioners often rely on color when making diagnosticand other medical decisions. Proper camera white balance has to considerthe color temperature of a light source. The color temperature refers tothe relative warmth or coolness of white light. While the human eye isgood at judging what is white under different light sources, digitalcameras can have great difficulty with auto white balance (AWB), andthus unsightly blue, orange, or even green color casts can result, whichcan interfere with optimal use of an endoscope.

Endoscopic camera systems may include two or more cameras and lightsources arranged at different angles so that the field of view can beenlarged (e.g., by stitching together images from different cameras)and/or so that different views can be seen without having to repositionone endoscope. Unlike single camera systems, when dealing with multiplecamera endoscopes, the process of white balancing becomes morecomplicated. When a white balanced self-illuminated camera system (CS2)is used as a secondary (or tertiary, quaternary, etc.) view to anotherwhite balanced self-illuminated camera system (CS1) the scene is nowilluminated by two (or more) independent light sources. The colortemperature of the scene illumination (CS1 &2) will change depending oneach system's location in the scene and intensity of each system'sillumination. The color temperature can also be affected depending onwhat tissue/structures (e.g., white vs. red tissue) are beingilluminated by a particular light source, the distances between thecamera lenses and the tissue being illuminated, and the type of lightsource used. This change in scene illumination color temperature maycause erroneous color reproduction in one or more camera systemsinvolved.

Current systems of white balancing multiple endoscopic camera systemsrely on white balancing each of the multiple cameras consecutivelyagainst a white background before beginning a procedure. These prior artsystems do not accomplish white balance after a procedure has begun andindeed, if white balancing is accidently attempted, the endoscopeusually must be removed and its white balance recalibrated.

Therefore, there remains a need for a system to correct colorreproduction errors inherent in systems with multiple self-illuminatedcameras.

SUMMARY OF THE INVENTION

The present invention provides a color correction system for at leasttwo self-illuminated endoscopic camera systems, the color correctionsystem comprising a central processing unit; an input/output interfacefor camera control units; and a memory for retention of collected dataand operating software or firmware for the color correction system;wherein each of the at least two self-illuminated endoscopic camerascomprises an imaging device and an illumination source.

In another embodiment the invention provides a device for colorcorrection of at least two self-illuminated endoscopic camera systems,each self-illuminated endoscopic camera system having at least oneimaging device and one illumination source, the device for colorcorrection computing and saving white balancing information and colorcorrection matrices for each of the at least two self-illuminatedendoscopic camera systems, and the device further computing and savingcombined white balancing information and color correction matrices forthe at least two self-illuminated endoscopic camera systems; andcomprising: a central processing unit; an input/output interface forcamera control units; a memory for retention of collected data andoperating software or firmware for the device for color correction; anda control to control operation of the color correction device.

In yet another embodiment, the invention provides a device for colorcorrection of at least two self-illuminated endoscopic camera systems,each self-illuminated endoscopic camera system having at least oneimaging device and one illumination source, the device comprising: acentral processing unit; an input/output interface for camera controlunits; a memory for retention of collected data and operating softwareor firmware for the device for color correction; and a control tocontrol operation of the color correction device; wherein when the colorcorrection device is activated, white balancing of the at least twoself-illuminated endoscopic camera systems takes place with the at leasttwo self-illuminated endoscopic camera systems outside of a scene, andthen with the two self-illuminated endoscopic camera systems placed inand used simultaneously in the scene.

The invention further provides a method for color correction of at leasttwo self-illuminated endoscopic camera systems, each self-illuminatedendoscopic camera system having at least one imaging device and oneillumination light, the method comprising the following steps: (A) withthe imaging devices oriented outside of a scene; measuring and savingwhite balancing information and color correction matrices for each ofthe at least two self-illuminated endoscopic camera systems; andcomputing and saving combined white balancing information and colorcorrection matrices for the at least two self-illuminated endoscopiccamera systems; and (B) with the at least two imaging devices positionedin a scene; with the illumination sources of the at least twoself-illuminated endoscopic cameras turned on, measuring and saving inthe memory separate values of R (red), G (green), and B (blue) for eachof at least two self-illuminated endoscopic camera systems as a combinedscene; with the illumination source of one of the at least twoendoscopic camera systems turned on and the illumination source of theother of the at least two endoscopic camera systems turned off measuringand saving in the memory average values of R (red), G (green), and B(blue) for the endoscopic camera systems with the illumination sourceon, and repeating this measuring and saving step except with theillumination source of the other of the least two endoscopic camerasystems switched from off to on and the illumination source of theoriginal endoscopic camera systems switched from on to off, and carryingout comparisons of the scene measurements of the at least two endoscopiccamera systems when turned on against the combined scene measures and ifnecessary, making corrections to the white balance of the endoscopiccamera systems.

In yet a further embodiment, the invention provides a method for colorcorrection of at least two self-illuminated endoscopic camera systems,each self-illuminated endoscopic camera system having an imaging device,an illumination light, and a camera control unit, the method comprisingthe following steps: with the at least two imaging devices orientedoutside of a scene; (a) white balancing the at least twoself-illuminated camera systems to determine white balance gains foreach of the at least two self-illuminated camera systems and saving thewhite balance gains in a memory along with color correction matrices foreach of the at least two self-illuminated camera systems; and (b) basedon each of the individual white balance gains and color correctionmatrices, computing combined white balance gains and an accompanying setof combined color correction matrices, and saving the combined whitebalance gains and the accompanying set of combined color correctionmatrices in the memory; and with the at least two imaging devicespositioned in a scene; (c) with illumination of the at least twoendoscopic camera systems turned on, separately measure average valuesof R (red), G (green), and B (blue) within a predetermined window of acaptured scene for each of the at least two endoscopic camera systemsand save in memory as a combined scene measurements; (d) withillumination of a first one of the at least two endoscopic camerasystems turned on and the second of the at least two endoscopic camerasystems turned off, measuring the average values of R, G, and B withinthe predetermined window of the captured scene for the one of the atleast two endoscopic camera systems and saving average values of R, G,and B of the first one of the at least two endoscopic camera systems inmemory as a first scene measurements; (e) with illumination of thesecond one of the at least two endoscopic camera systems turned on andthe first one of the at least two endoscopic camera systems turned off,measuring the average values of R, G, and B within the predeterminedwindow of the captured scene for the second one of the at least twoendoscopic camera systems and saving average values of R, G, and B ofthe second one of the at least two endoscopic camera systems in memoryas a second scene measurements; (f) carrying out a first comparisonbetween the first scene measurements and the combined scenemeasurements, and if the first scene measurements is significantlydifferent as perceived through close observation than the combined scenemeasurements, then applying the combined-light set of white balance gainand the color correction matrix to a digital signal processing path ofthe first one of the at least two endoscopic camera systems; (g)carrying out a second comparison between the second scene measurementsand the combined scene measurements, and if the second scenemeasurements is significantly different as perceived through closeobservation than the combined scene measurements, then applying thecombined-light set of white balance gain and the color correction matrixto a digital signal processing path of the second one of the at leasttwo endoscopic camera systems; and (h) repeating steps (f) and (g) asneeded to correct the color balance of at least two self-illuminatedendoscopic camera systems.

In still another embodiment, the invention provides a method for colorcorrection of at least two self-illuminated endoscopic camera systems,each self-illuminated endoscopic camera system having at least oneimaging device and one illumination light, the method comprising thefollowing steps: (a) the camera systems are first separately whitebalanced outside of a scene and their white balance gains and colorcorrection matrices are saved; (b) based on the measurements, combinedwhite balance gains and combined color correction matrices are computedand saved; and (c) with the two camera systems in a scene, performingwhite balancing by measuring the R, G, and B values of both camerastogether, and then white balancing by measuring the R, G, and B valuesof each separate imaging device with the other camera system's lightoff; and (d) comparing each imaging device's scene measurements againstthe combined scene measurements and if they are significantly different,the combined light set of white balance gain and color correction matrixis applied to digital signal processing paths of each camera system.

These and other features of the invention are described below.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram depicting two endoscope camera systems with theirtips pointed in an overlapping surgical field of view, with the twoendoscope camera systems connected to two separate camera control units.

FIG. 2 is a diagram depicting two endoscope camera systems with theirtips in an overlapping surgical field of view, with the two endoscopecamera systems connected to a single camera control unit.

FIG. 3 is an exemplary block diagram showing an exemplary embodiment ofparts of a color correction system of the invention.

FIG. 4 is a flow chart showing an exemplary embodiment of a method ofcolor correction of two or more self-illuminated camera systems of theinvention.

FIG. 5 is a diagrammatic drawing depicting the fields of view of twohighly overlapping camera systems, with their respective colorcorrection windows fully in the overlap area.

FIG. 6 is a diagrammatic drawing depicting the fields of view of twoless overlapping camera systems, with their respective color correctionwindows only partially in the overlap area.

DETAILED DESCRIPTION

Given the above described limitations on the white balancing of multiplecamera endoscopes, the inventors have developed a system that addressesthese shortcomings.

Turning first to FIG. 1 , there is shown a diagrammatic view showing afirst exemplary arrangement of two separate endoscopic camera systems10A and 10B (with “endoscopic camera systems” sometimes referred toherein as “endoscopes”). Each endoscopic camera system 10A and 10Btypically comprises a handle 12 and an endoscope 14 extending therefrom,with each endoscope 14 having a distal end 16. An imaging device 18 (forexample a charge coupled device (CCD)) may be located at the distal end16. The imaging device may also include optics and an electromechanicalassembly. Alternatively the imaging device 18 can be located, forexample, in the handle 12, or even outside of the endoscopic camerasystem, with an image guide being used to transmit images being viewedto the imaging device 18 (not shown). At least one illumination lightsource 20, for example a LED light, can be positioned at the distal end16 of the endoscope 14. Alternatively, an illumination light source 20can be placed distant to the distal end 16, with the light beingtransmitted out the distal end via a connection light tube (not shown).Alternatively, an illumination light source 20 for a camera system canbe located elsewhere and the light transmitted to a surgical site.

As further shown in FIG. 1 , each handle 12 is connected with data andpower cables 22A and 22B to Camera Control Unit A 30A and Camera ControlUnit B 30B via input plugs 32A and 32B, respectively. The endoscopes canbe laparoscopes, arthroscopes, etc. If either or both of the endoscopiccamera systems 10A and 10B are wireless devices then instead of physicaldata and power cables 22A and 22B there are wireless data links (notshown) between the handle 12 and the Camera Control Units 30A and 30B.As will be understood by those of skill in the art based on thisdisclosure, three or more endoscopic camera systems may also be usedtogether. However, for the balance of the discussion, a two endoscopesystem is described.

The Camera Control Unit A 30A and Camera Control Unit B 30B areconnectable to display A 34A and display B 34 B, respectively to displayimages from their respective endoscopic camera systems 10A and 10B. Forthe convenience of the user, in certain situations, it is possible thatCamera Control Unit A 30A and/or Camera Control Unit B 30B can be madeto display a composite image of the scene being viewed on one or more ofDisplay A 34A or Display B 34B. Alternately, a single display with splitscreen capabilities (not shown) can be used instead of Display A 34A andDisplay B 34B.

In FIG. 1 , the two endoscopes 14 of the two endoscopic camera systems10A and 10B are shown placed in a surgical field SF and theircorresponding illumination light sources 20, when turned on at the sametime, illuminate the surgical field SF and impact the total light color,intensity, and quality in the surgical field SF. While the term surgicalfield is used herein, this term can refer to any location or “scene”where the two or more endoscopic camera systems 10A and 10B are beingused. While the illumination light source 20 is shown as being roughlyon a same plane as imaging device 18 at the distal tip 16, if desired,the illumination light source 20 could be located to aim its light notdirectly in the field of view of the imaging device 18. The lightsources 20 in the endoscopic camera systems 10A and 10B can have thesame or different desired lighting characteristics, such as lightfrequency including light color, intensity, illumination focus (e.g.,narrow spotlight versus wide spread light) and direction.

Overall, the at least two endoscopic camera systems 10A and 10B can beidentical, or can be different in design and operation, including theirmake, model, and type of camera and number and characteristics of theirlight sources. Thus, when operated, image data collected by theendoscopic camera systems 10A and 10B will be transmitted via data/powercables 22A and 22B to Camera Control Unit A 30A and Camera Control UnitB 30B, respectively. Camera Control Unit A 30A and Camera Control Unit B30B can be interconnected via a data link 36 which links Camera ControlUnit A 30A and Camera Control Unit B 30B through a color correction unit24 which can correlate data collected by the two endoscopic camerasystems 10A and 10B and their respective connected Control Unit A 30Aand Camera Control Unit B 30B and which can include hardware, firmware,and software needed to carry out the color correction system of theinvention. Alternatively, the camera control units may be connected toeach other with one of the camera control units containing the colorcorrection unit 24.

Each Control Unit A 30A and Camera Control Unit B 30B can optionallyinclude a white balance reset and correction button 38A and 38B,respectively, to allow for manual resetting and correction of the whitebalance by an operator. Alternately, a white balance reset and colorcorrection button 26 can be included with the color correction unit 24.As an alternative to there being a dedicated color correction unit 24, ageneral purpose computer loaded with software can instead be connectedto the Camera Control Units 30A and 30B and used to carry out the stepsof the invention as described further below. In the case of a generalpurpose computer, there would not be separate and dedicated whitebalance reset and color correction buttons 26, 38A or 38B as suchcomputer program could include a predetermined keypad button to click ora software icon to select.

Furthermore, the system of the invention can be set up such that initialwhite balancing of the two or more endoscopes 10A and 10B, before theendoscopes are inserted into a surgical field, can be activated byinitiation of a computer program in either a dedicated color correctionunit 24 or a general purpose computer. Thereafter, with the endoscopesplaced in the surgical field, color correction steps can take placeautomatically and without the need for an operator to push any buttons,for example, if the system detects that one or more of the endoscopes10A and/or 10B has been moved or the lighting conditions in the surgicalfield have changed. Further details on the operation of the whitebalance resetting process will be discussed further below.

Turning to FIG. 2 , there is shown a variation on the first exemplaryarrangement of two separate endoscopic camera systems 10A and 10B, whereinstead of each endoscopic camera system 10A and 10B being connected toits own dedicated Camera Control Unit A 30A and Camera Control Unit B30B, respectively, as in the case of the setup of FIG. 1 , the at leasttwo endoscopic camera system 10A and 10B (as described with reference toFIG. 1 ) are connected to a single Camera Control Unit AB 40. The CameraControl Unit AB 40 can be connectable to two displays (Display A 42A andDisplay B 42B), or alternately, a single display with split screencapabilities (not shown) can be used instead of two dedicated display(Display A 42A and Display B 42B). If either or both of the endoscopiccamera systems 10A and 10B are wireless devices then instead of physicaldata and power cables 22A and 22B there are data links (not shown.)

The Camera Control Unit AB 40 can optionally be equipped with a whitebalance reset and correction button 44 to allow for manual resetting andcorrection of the white balance of the endoscopic camera system 10A and10B by an operator. A color correction unit 46 can be interconnected tothe Camera Control Unit AB 40 via a data link 50 and correlate datacollected by the two endoscopic camera systems 10A and 10B and caninclude hardware, firmware and/or software needed to carry out the colorcorrection process of the invention. A white balance reset and colorcorrection button 48 can be included with the color correction unit 46to obviate need for a white balance reset and correction button 44 onthe Camera Control Unit AB 40.

As with the arrangement of FIG. 1 , as an alternative to a dedicatedcolor correction unit 46, a general purpose computer loaded withsoftware can instead be connected to the Camera Control Unit 40 and usedto carry out the steps of the invention as described further below. Ifthis the case, then there would not be separate white balance reset andcolor correction buttons 44 or 48 as such computer program could includea predetermined keypad button to click or a software icon to select.

Furthermore, the system of the invention can be set up such that initialwhite balancing of the two or more endoscopes 10A and 10B before theendoscopes are inserted into a surgical field can be activated byinitiation of a computer program in either a dedicated color correctionunit 46 or a general purpose computer. Thereafter, with the endoscopesplaced in the surgical field, color correction steps can take placeautomatically and without the need for an operator to push any buttons,for example, if the system detects that one or more of the endoscopes10A and/or 10B has been moved or the lighting conditions in the surgicalfield has changed. Further details on the operation of the white balancecorrection process will be discussed further below.

Having described the layout of the typical physical hardware forendoscopy including the endoscopic camera systems, camera control units,displays, and their interconnections, we now turn to a description of anexemplary embodiment of the color balance error correction system of theinvention. FIG. 3 is an exemplary block diagram showing an exemplaryembodiment of a color correction unit 24/46 of the invention. The colorcorrection unit 24/46 includes a CPU 60, memory 62, an input/outputinterface for the camera control unit(s) 64 with a data link 36/50, apower supply/power input 66, and white balance reset and colorcorrection button 26/48 to initiate the process as will be describedfurther below. As noted above, in lieu of a dedicated color correctionunit 24/46, the functions and operations of a color correction unit24/46 can be replicated in a general purpose computer that can beconnected to the endoscopes 10A and 10B and/or to the Camera ControlUnit(s).

As described above, the color balance error correction system of theinvention can reside in a separate module or unit, such as the colorcorrection units 24/46 described above in FIGS. 1 and 2 . Thepossibility of replicating the functionality in a general purposecomputer was also discussed above. Another possibility is to integratethe required features of the color correction unit directly into one ormore of the Camera Control Unit A 30A, Camera Control Unit B 30B, orCamera Control Unit AB 40. So long as the functionality is provided, thehardware, firmware, and software can reside anywhere in a setup.

Thus, regardless of the physical location of the necessary electronics,firmware, and/or software in a setup, the following steps are followedin the invention to correct color balance errors when using two or moreendoscopic camera systems with their lights switched on at the same timeduring an endoscopic procedure. The imaging devices can be located atthe distal end of the endoscope, e.g., camera chip on tip, can belocated in the proximal end of the endoscope, or can be located in otherlocations as desired. Furthermore, the imaging devices can be reusableor disposable. The camera systems can function such that one camerasystem functions as a master device and the other camera systemfunctions as a slave device. Lastly, the illumination of either camerasystem can be disabled or interleaved with frames of another camerasystem.

FIG. 4 a flow chart showing an exemplary embodiment of a method andsystem of color correction of two or more self-illuminated camerasystems of the invention.

In the first step 100 of the method and system on the flowchart, whitebalancing is preformed as usual for each camera system using itsrespective light source. In an embodiment, this is accomplished with theimaging devices of endoscopic camera systems A and B outside of asurgical field and pointed at a section of pure white material, forexample, such as a piece of pure white card stock or a piece of whitegauze. The camera systems are cycled on and the individual white balancegains, WB1 and WB2, are stored in separate white balance gain memoriesfor each individual digital signal processing path for each camera. Eachsignal processing path has its own color correction matrix as well, CC1and CC2, respectively, which are also stored in memory along with WB1and WB2, for example in the memory unit 62 of the color correction unit24/46 of FIG. 3 . As noted above, in lieu of having a dedicated colorcorrection unit, the functionality and steps of the invention can becarried out by a general purpose computer which is connected to theCamera Control Unit(s) or can even be carried out in the Camera ControlUnit(s). However, for sake of discussion of this embodiment of the stepsand method, it will be assumed that there is a dedicated colorcorrection unit present.

Next, in step 102, based on the individual white balance gains WB1 andWB2 and the individual color correction matrixes CC1 and CC2 for eachcamera determined from the step 100, compute a combined-light set ofwhite balance gains WB1′ and WB2′, and an accompanying set ofcombined-light set of color correction matrixes CC1′ and CC2′. Thecomputation of WB1′ and WB2′ and CC1′ and CC2′ values can be computed bythe color correction unit 24/46 and stored therein in its memory unit62.

The next group of steps occur with the endoscopic camera systems 10A and10B situated in a body (in a surgical field SF) or “scene” during aprocedure and are generally shown in the steps of block 112 of FIG. 4 .In step 114, the camera system 1 (CS1) and the camera system 2 (CS2)(which can correspond to the endoscopic camera systems 10A and 10B,respectively, as shown in FIGS. 1 and 2 ) are physically positioned inthe body location (the surgical field SF), as desired for use. In thesystem of the invention the following steps periodically take place. Theperiodicity of the steps can be at predetermined intervals, or theperiodicity can be triggered or increased whenever movement is detectedin one or more of the endo scopes or in some other manner. The exemplaryformulas used in this process are discussed further below.

In step 116, with both CS1 and CS2 light sources turned on (e.g., theillumination light sources 20 in each endoscopic camera systems 10A and10B), the system separately measures the average values of R (red), G(green), and B (blue) within a predetermined window of the capturedscene for CS1 and CS2. The predetermined window of the captured sceneswill correlate with the view each imaging device of each endoscopiccamera system will be capturing at any instance in time. When twoendoscopes have their imaging devices mostly pointed at the same area inthe surgical field, the captured images for CS1 and CS2 will be in anarea of greater overlapping lighting from the two endoscopes, and theillumination from each of the endoscope's illumination light source willinfluence to a greater extent the total quality, color, and degree ofillumination picked up by each respective camera system CS1 and CS2. Incontrast, when the two endoscopes have their imaging devices pointed indifferent directions, the area of overlapping lighting from the twoendoscopes will be smaller, and the images captured by each separatecamera systems CS1 or CS2 will be less influenced by lighting from theother camera system CS1 or CS2.

For example, as shown in diagrammatic FIG. 5 , the endoscopes (CS1 andCS2) are pointed (mostly) at the same area in the surgical field, andthe image frames captured by CS1 will be in a lighting overlap zone 120of the light projection fields 122A and 122B from the respective lightsources of CS1 and CS2. A small section of each image frame, namely CS1window 124A for CS1, and CS2 window 124B for CS2 is the area in eachcamera system that samples light for white balancing purposes. In FIG. 5, CS1 window 124A and CS2 window 124B are completely in the lightingoverlap zone 120. However, referring to diagrammatic FIG. 6 , if theendoscopes (CS1 and CS2) are not pointed at the same area in thesurgical field, the lighting overlap zone 120′ of the light projectionfields 122A′ and 122B′ from the respective light sources of CS1 and CS2will be smaller, and the white balancing sections of the image framescaptured by CS1 and CS2, as sampled by CS1 window 124A′ and CS2 window124B′, respectively, will not be completely in the lighting overlap zone120′, in which case the images captured by each separate camera systemsCS1 or CS2 and their white balancing sections CS1 window 124A′ and CS2window 124B′ will be less influenced by lighting from the other camerasystem CS1 or CS2.

The predetermined windows CS1 window 124A/124A′, and CS2 window124B/124B′ may be the usual exposure control or white balance windows.If each predetermined window is small, it is more likely to be in theoverlapped area of the two camera images CS1 and CS2 and should yield amore appropriate color correction (See FIG. 5 .) However, as shown inFIG. 6 , if each window (CS1 window 124A′ and CS2 window 124B′) do notcompletely reside or are outside of the overlap area 120′, thecorrection will be less effective, but nonetheless in the correctdirection and can be used. Regardless of the degree of overlap, theaverage values of R, G, and B within a predetermined window of thecaptured scene for CS1 window and CS2 window are collected in memory,for example in the memory unit 62 of the color correction unit 24/46 asmeasurements SceneAB, for further processing.

In step 118, with only CS1 illumination switched on, the system measuresthe average values of R, G, and B within a predetermined window of thecaptured scene for CS1. These average values of R, G, and B are storedin the memory unit 62 in the color correction unit 24/46 as measurementsSceneA, for further processing. The color correction unit 24/46 cancontrol CS1 and CS2 to automatically accomplish the lighting states ofCS1 and CS2.

In step 120, now with only CS2 illumination switched on, the systemmeasures the average values of R, G, and B within a predetermined windowof the captured scene for CS2. These average values of R, G, and B arestored in memory, for example as measurements SceneB, in the colorcorrection unit 24/46, for further processing. The color correction unit24/46 can control CS1 and CS2 to automatically accomplish the lightingstates of CS1 and CS2.

Next, in step 122, a first comparison is carried out. If the detectedSceneA measurements are significantly different as perceived throughclose observation from the detected SceneAB measurements, WB1′ and CC1′are applied to the first camera system's CS1 digital signal processingpath. Scene measurements can be taken for example by using theInternational Commission on Illumination (CIE) distance metric ΔE*ab(also called ΔE*, or, inaccurately, dE*, dE, or “Delta E”) where deltais a Greek letter often used to denote difference, and E stands forEmpfindung; German for “sensation”. Alternative formulas include CIE76,CIE94, and CIEDE2000, and CMC 1:c (1984). See Backhaus, W.; Kliegl, R.;Werner, J. S. (1998). Color Vision: Perspectives from DifferentDisciplines. Walter de Gruyter. p. 188. ISBN 9783110154313; Valberg, A.(2005). Light Vision Color. Wiley. p. 278. ISBN 9780470849026; Sharma,Gaurav (2003). Digital Color Imaging Handbook (1.7.2 ed.). CRC Press.ISBN 0-8493-0900-X, and http://zschuessler.github.io/DeltaE/learn//However, whatever mathematical approach is taken, the inventors describethis herein as being “perceptible through close observation assignificantly different.”

Likewise, in step 124, a second comparison is carried out. If thedetected SceneB measurements are significantly different as perceivedthrough close observation from detected SceneAB measurements, WB2′ andCC2′ are applied to the second camera system's CS2 digital signalprocessing path.

In step 126, steps 122 and 124 are repeated as often as necessary tocorrect color balance using the formula below as CS1 and CS2 imageschange. As noted above, movement of either CS1 or CS2 could triggeroperation of steps 114-126 or if the systems detected that white balancecorrection is needed at one predetermined interval between the steps,then the periodicity may be increased to ensure that the images beingviewed are correctly white balanced.

The individual steps 118 and 120 with selected light sources turned offmay last for a single video frame or as long as a few video frames. Whenone of the illumination sources is operating alone, such as CS1illumination, the image from CS2, with its illumination momentarily off,may be dark. That is, the color correction steps may interruptacceptable quality video frames from one or both imaging devices. Insituations of this nature, a previous frame of CS1 video can be inserteduntil the CS1 light returns, as shown in optional step 128, and aprevious frame of CS2 video can be inserted until the CS2 light returns,as shown in optional step 130. Previous saved frames should besubstituted as needed to conceal missing or inferior frames.

The group of steps 112 (steps 114-130) can be initiated, for example,when an operator pushes the white balance reset and correction button26, 38A, 38B, and/or 44 on the applicable Camera Control Unit 30A, 30B,40 or color correction unit 24 or 46 or can be accomplishedautomatically and periodically when the endoscopes 10A and 10B are inuse as described above.

The calculations to correct white balance gains for Red (R) arepresented below. The calculations for Green (G) and Blue (B) follow thesame formula and are set forth following the calculations for whitebalance gains for Red (R). As with other data utilized in the method,these formulas are saved, for example, in the memory unit 62 of thecolor correction unit 26/48. They can likewise reside in computersoftware on a general purpose computer, a Camera Control Unit, or can beincluded in one of the endoscopes.

Calculation to correct white balance gains for Red (R)

R_(gain 1)=initial red white balance gain for CS1

R_(gain 2)=initial red white balance gain for CS2

R_(L1)=Red value measured with CS1 illumination

R_(L2)=Red value measured with CS2 illumination

R_(L1)+G_(L1)+B_(L1)=sum of Red Green Blue values measured with CS1illumination

R_(L2)+G_(L2)+B_(L2)=sum of Red Green Blue values measured with CS2illumination

R_(L1L2)=Red value measured with CS1 and CS2 illumination

R_(L1L2)+G_(L1L2)+B_(L1L2)=sum of Red Green Blue values measured withCS1 and CS2 illuminationR _(gain1 corrected) =R _(gain1)×[R _(L1)/(R _(L1) +G _(L1) +B_(L1))]/[R _(L1L2)/(R _(L1L2) +G _(L1L2) +B _(L1L2))]  Equation 1R:R _(gain2 corrected) =R _(gain2)×[R _(L2)/(R _(L2) +G _(L2) +B_(L2))]/[R _(L1L2)/(R _(L1L2) +G _(L1L2) +B _(L1L2))]  Equation 2R:

Calculation to correct white balance gains for Green (G)

G_(gain 1)=initial green white balance gain for CS1

G_(gain 2)=initial green white balance gain for CS2

G_(L1)=Green value measured with CS1 illumination

G_(L2)=Green value measured with CS2 illumination

R_(L1)+G_(L1)+G_(L1)=sum of Red Green Blue values measured with CS1illumination

R_(L2)+G_(L2)+B_(L2)=sum of Red Green Blue values measured with CS2illumination

G_(L1L2)=Green value measured with CS1 and CS2 illumination

R_(L1L2)+G_(L1L2)+B_(L1L2)=sum of Red Green Blue values measured withCS1 and CS2 illuminationG _(gain1 corrected) =G _(gain1)×[G _(L1)/(R _(L1) +G _(L1) +B_(L1))]/[G _(L1L2)/(R _(L1L2) +G _(L1L2) +B _(L1L2))]  Equation 1G:G _(gain2 corrected) =G _(gain2)×[G _(L2)/(R _(L2) +G _(L2) +B_(L2))]/[G _(L1L2)/(R _(L1L2) G _(L1L2) +B _(L1L2))]  Equation 2G:

Calculation to correct white balance gains for Blue (B)

B_(gain 1)=initial blue white balance gain for CS1

B_(gain 2)=initial blue white balance gain for CS2

B_(L1)=Blue value measured with CS1 illumination

B_(L2)=Blue value measured with CS2 illumination

R_(L1)+G_(L1)+B_(L1)=sum of Red Green Blue values measured with CS1illumination

R_(L2)+G_(L2)+B_(L2)=sum of Red Green Blue values measured with CS2illumination

B_(L1L2)=B1; value measured with CS1 and CS2 illumination

R_(L1L2)+G_(L1L2)+B_(L1L2)=sum of Red Green Blue values measured withCS1 and CS2 illuminationB _(gain1 corrected) =B _(gain1)×[G _(L1)/(R _(L1) +G _(L1) +B_(L1))]/[B _(L1L2)/(R _(L1L2) +G _(L1L2) +B _(L1L2))]  Equation 1B:B _(gain2 corrected) =B _(gain2)×[B _(L2)/(R _(L2) +G _(L2) +B_(L2))]/[B _(L1L2)/(R _(L1L2) +G _(L1L2) +B _(L1L2))]  Equation 2B:

in the above first equations for R_(gain1) corrected,G_(gain1 corrected), and B_(gain1 corrected), each of the numerators isthe fraction of Red (or Green or Blue) in the measurement window withCS1 illumination. The denominator is the fraction of Red (or Green orBlue) in the measurement window with CS1 and CS2 illumination. The ratioof these measured Red fractions (or Green or Blue) is used to correctthe Red white balance gain, the Green white balance gain, and the Bluewhite balance gain.

As noted above, the imaging devices in the individual endoscopes arelinked to coordinate the timing of the steps noted to carry out theprocess. This can for example take place via a data link 36 through acolor correction unit 24 to two camera control units A and B, as shownin FIG. 1 , via a color correction unit 46 connected to camera controlunits AB, as shown in FIG. 2 , and/or via a general purpose computerwith software of the system connected to the camera control unit(s) andendoscopes or via a color correction unit inside a camera control unit.

The preferred embodiments of this invention have been disclosed,however, so that one of ordinary skill in the art would recognize thatcertain modifications would come within the scope of this invention.

What is claimed is:
 1. A color correction system for two self-illuminated endoscopic camera systems, the color correction system comprising: a first endoscopic camera system further comprising: an imaging device, an illumination source; and a camera control unit; a second endoscopic camera system further comprising: an imaging device, an illumination source; and a camera control unit; a color correction device further comprising: a central processing unit; an input/output interface for the camera control units; and a memory for retention of collected data and operating software or firmware for the color correction device; and wherein the color correction device uses white balancing of the first endoscopic camera system and the second endoscopic camera system when the imaging devices are outside of a scene and when the imaging devices are inside of a scene to properly correct white balance when both endoscopic camera systems are used simultaneously in the scene.
 2. The color correction system of claim 1 wherein with the imaging devices outside of a scene, the color correction system computes and saves white balancing information and color correction matrices for each of the endoscopic camera systems; and with the endoscopic camera systems placed in a scene and with their illumination sources turned on, the color correction system measures and saves in the memory separate pixel descripting values for each self-illuminated endoscopic camera system as a combined scene measurement, and with the illumination source of one of the endoscopic camera systems turned on and the illumination source of the other of the endoscopic camera systems turned off, the color correction system measures and saves in the memory average pixel descripting values as a scene measure for the endoscopic camera system with the illumination source turned on; and wherein the color correction device compares the scene measures of the endoscopic camera system with the illumination source turned on against the combined scene measurements and corrects the white balance of the at least two endoscopic camera systems.
 3. The color correction system of claim 2, wherein the pixel descripting values are values of R (red), G (green), and B (blue).
 4. The color correction system of claim 1, wherein one of the endoscopic camera systems can function as a master device and the other of the endoscopic camera systems can function as a slave device.
 5. The color correction system of claim 1, wherein illumination of either of the endoscopic camera systems can be disabled or interleaved with frames of another of the endoscopic camera systems.
 6. The color correction system of claim 1, wherein the camera control units in the endoscopic camera systems are connected via a data link to coordinate timing of the measuring steps.
 7. The color correction system of claim 1, wherein the color correction device is a separate unit that interconnects to the camera control units of each of the endoscopic camera systems.
 8. The color correction system of claim 1, wherein the color correction system comprises hardware, firmware, or software on a camera control unit of the first endoscopic camera system that interconnects to the camera control unit of the second endoscopic camera system.
 9. The color correction system of claim 1, wherein the color correction system comprises hardware, firmware, or software on at least one of the first and second endoscopic camera systems.
 10. A method for color correction of at least two self-illuminated endoscopic camera systems, each self-illuminated endoscopic camera system having at least one imaging device and one illumination light, the method comprising the following steps: (A) with the at least two imaging device oriented outside of a scene; measuring and saving white balancing information and color correction matrices for each of the at least two self-illuminated endoscopic camera systems; and computing and saving combined white balancing information and color correction matrices for the at least two self-illuminated endoscopic camera systems; and (B) with the at least two imaging devices positioned in a scene; with the illumination sources turned on, measuring and saving in the memory separate pixel descripting values for each of the at least two imaging devices as a combined scene; with the illumination source of one of the at least two endoscopic camera systems turned on and the illumination source of the other of the at least two endoscopic camera systems turned off measuring and saving in the memory average pixel descripting values as a scene measure for the endoscopic camera system with the illumination source turned on; and carrying out comparisons of the scene measurements of the endoscopic camera system with the illumination source turned on against the combined scene measures and if necessary, making corrections to the white balance of the endoscopic camera systems.
 11. The method for color correction of claim 10, further comprising repeating the steps of carrying out comparisons as needed to correct the color balance of at least two self-illuminated endoscopic camera systems.
 12. The method for color correction of claim 10, wherein the at least two self-illuminated endoscopic camera systems each comprise a camera control unit and the camera control units are connected via a data link to coordinate timing of the measuring steps.
 13. The method for color correction of claim 10, wherein the color correction system comprises hardware, firmware, or software on at least one camera control unit.
 14. The method for color correction of claim 10, wherein if video quality from one of the at least two self-illuminated endoscopic camera systems is not acceptable due to missing video frames during a time when one of at least two endoscopic camera systems is turned off, then inserting previous video frames from that one of the at least two endoscopic camera systems to replace the missing video frames.
 15. The method of claim 10 wherein the pixel descripting values are values of R (red), G (green), and B (blue). 